.travis.yml

dist: xenial
language: cpp
services: docker

os: linux

cache:
  directories:
    - $HOME/.ccache
    - $HOME/Library/Caches/Homebrew

stages:
  - test # Default stage with job matrix
  - windows
  - osx

compiler:
  - gcc
  - clang

env:
  global:
    - ROS_DISTRO="melodic"
    - TRAVIS_CMAKE_GENERATOR="Ninja"
  matrix:
    - TRAVIS_BUILD_TYPE="Release" UBUNTU="bionic"
    - TRAVIS_BUILD_TYPE="Debug" UBUNTU="bionic"

# ===================
# STAGE: test (linux)
# ===================

before_install:
  # Build the docker image
  - cd $TRAVIS_BUILD_DIR/.ci
  - docker build --pull --build-arg from=ros:$ROS_DISTRO-ros-core-$UBUNTU --rm -t blockfactory/ci .
  # Configure environment for finding dependencies
  - export DEPS_INSTALL_PREFIX="$HOME/deps"
  - export CMAKE_PREFIX_PATH="$CMAKE_PREFIX_PATH:$DEPS_INSTALL_PREFIX"
  # Execute the image in detached mode
  - >-
    docker run -d -it \
      -v $TRAVIS_BUILD_DIR:$TRAVIS_BUILD_DIR \
      -v $HOME/.ccache:$HOME/.ccache \
      -w $TRAVIS_BUILD_DIR \
      --env-file $TRAVIS_BUILD_DIR/.ci/env-file \
      --name ci \
      blockfactory/ci \
      bash

install:
  # Install dependencies
  - docker exec -it ci .ci/install.sh

script:
  - docker exec -it ci bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash && .ci/script.sh'

# ==========
# STAGE: osx
# ==========

stage_osx:
  before_install: &osx_before_install
    # Setup ccache
    - export PATH="/usr/local/opt/ccache/libexec:$PATH"
  install: &osx_install
    # Install ROS
    # http://wiki.ros.org/kinetic/Installation/OSX/Homebrew/Source
    #
    # Kinetic does not work due to https://github.com/ros/rospack/pull/80, that
    # is merged in lunar. Melodic does not work either, probably it is too new
    # and few deps are not yet ready.
    - mkdir -p ~/Library/Python/2.7/lib/python/site-packages
    - echo "$(brew --prefix)/lib/python2.7/site-packages" >> ~/Library/Python/2.7/lib/python/site-packages/homebrew.pth
    - sudo -H python2 -m pip install -U wstool rosdep rosinstall rosinstall_generator rospkg catkin-pkg sphinx
    - sudo -H rosdep init
    - rosdep update
    - mkdir ~/ros_catkin_ws
    - cd ~/ros_catkin_ws
    - rosinstall_generator ros_comm --rosdistro $ROS_DISTRO --deps --wet-only --tar > $ROS_DISTRO-ros_comm-wet.rosinstall
    - wstool init -j8 src $ROS_DISTRO-ros_comm-wet.rosinstall
    - rosdep install --from-paths src --ignore-src --skip-keys google-mock --rosdistro $ROS_DISTRO -y
    - ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
    - source ~/ros_catkin_ws/install_isolated/setup.bash
    # Configure environment for finding dependencies
    - export DEPS_INSTALL_PREFIX="$HOME/deps"
    - export CMAKE_PREFIX_PATH="$CMAKE_PREFIX_PATH:$DEPS_INSTALL_PREFIX"
    # Install dependencies
    - cd $TRAVIS_BUILD_DIR/.ci
    - ./install.sh
  script: &osx_script
    - cd $TRAVIS_BUILD_DIR/.ci
    - ./script.sh

# ==============
# STAGE: windows
# ==============

stage_windows:
  install: &windows_install
    # Install ROS
    # https://ms-iot.github.io/ROSOnWindows/GettingStarted/Setup.html
    - choco source add -n=ros-win -s="https://roswin.azurewebsites.net/api/v2" --priority=1
    # The output makes exceed the max log size, and the combination of redirecting plus
    # travis_wait does not work
    - sleep 500 && echo "Waiting ..." &
    - sleep 1000 && echo "Waiting ..." &
    - sleep 1500 && echo "Waiting ..." &
    - sleep 2000 && echo "Waiting ..." &
    - choco upgrade ros-melodic-desktop -y > logs.txt
    - for pid in $(ps | grep sleep | tr -s " " | cut -d " " -f 1) ; do kill $pid ; done
    # It is still not clear how to use env vars with multiple paths with separators in git-bash.
    # In this case it is a CMake variable, and since it is CMake for Windows, providing a list
    # with Windows-style folders separated by ";" works fine.
    # TODO: understand if we can use the script /c/opt/ros/melodic/x64/setup.bat
    - export CMAKE_PREFIX_PATH="$CMAKE_PREFIX_PATH;C:\opt\ros\melodic\x64"
    # Configure environment for finding dependencies
    - export DEPS_INSTALL_PREFIX="$USERPROFILE\deps"
    - export CMAKE_PREFIX_PATH="$CMAKE_PREFIX_PATH;${DEPS_INSTALL_PREFIX}"
    # Install dependencies
    - cd $TRAVIS_BUILD_DIR/.ci
    - ./install.sh
  script: &windows_script
    - cd $TRAVIS_BUILD_DIR/.ci
    - ./script.sh

# ======================
# BUILD JOBS FROM STAGES
# ======================

jobs:
  include:
    # ---------
    # STAGE OSX
    # ---------
    - &osx_template
      stage: osx
      os: osx
      osx_image: xcode10.1
      compiler:
      services:
      before_install: *osx_before_install
      install: *osx_install
      before_script: skip
      script: *osx_script
      after_script: skip
      after_failure: skip
      after_success: skip
      addons:
        homebrew:
          taps:
            - ros/deps
            - homebrew/core
          packages:
            - ccache
      env:
        ROS_DISTRO="lunar"
        TRAVIS_CMAKE_GENERATOR="Xcode"
        TRAVIS_BUILD_TYPE="Debug"
    - <<: *osx_template
      compiler: clang
      env:
        ROS_DISTRO="lunar"
        TRAVIS_CMAKE_GENERATOR="Unix Makefiles"
        TRAVIS_BUILD_TYPE="Debug"
    # -------------
    # STAGE WINDOWS
    # -------------
    - &windows_template
      stage: windows
      os: windows
      services:
      cache:
      compiler:
      before_install: skip
      install: *windows_install
      before_script: skip
      script: *windows_script
      after_script: skip
      after_failure: skip
      after_success: skip
      env:
        ROS_DISTRO="melodic"
        TRAVIS_CMAKE_GENERATOR="Visual Studio 15 2017"
        TRAVIS_CMAKE_ARCHITECTURE="x64"
        TRAVIS_BUILD_TYPE="Release"